Systems, methods, and apparatus for detecting ferromagnetic foreign objects in a predetermined space

ABSTRACT

An apparatus for detecting a presence of an object includes an inductive sensing coil that is configurable to generate a first magnetic field. The inductive sensing coil is configured to have an electrical characteristic that is detectable when generating the first magnetic field. The electrical characteristic is configured to vary as a function of a second time-varying magnetic field simultaneously applied to the object. The apparatus comprises a controller configured to detect a change in the electrical characteristic and determine a presence of the object based on the detected change in the electrical characteristic. The electrical characteristic comprises one or more of an equivalent resistance, an equivalent inductance, an equivalent impedance, and an impulse response of the inductive sensing coil. The object comprises one or more of a ferromagnetic object, a metallic film and a metallic foil.

CROSS REFERENCE TO RELATED APPLICATIONS

This Application claims priority to Provisional Application No.62/098,273 entitled “SYSTEMS, METHODS, AND APPARATUS FOR DETECTINGFERROMAGNETIC FOREIGN OBJECTS IN A PREDETERMINED SPACE” filed Dec. 30,2014. The disclosure of Provisional Application No. 62/098,273 is herebyexpressly incorporated in its entirety by reference herein.

FIELD

The present disclosure relates generally to wireless power transfer, andmore specifically to devices, systems, and methods for detectingferromagnetic foreign objects in a predetermined space.

BACKGROUND

Remote systems, such as vehicles, have been introduced that includelocomotion power derived from electricity received from an energystorage device such as a battery. Such energy storage devices need to beperiodically charged. For example, hybrid electric vehicles includeon-board chargers that use power from vehicle braking and traditionalmotors to charge the vehicles. Battery electric vehicles (electricvehicles) are often proposed to be charged through some type of wiredalternating current (AC) such as household or commercial AC supplysources. The wired charging connections require cables or other similarconnectors that are physically connected to a power supply. Cables andsimilar connectors may sometimes be inconvenient or cumbersome and haveother drawbacks. Wireless charging systems that are capable oftransferring power in free space (e.g., via an electromagnetic field) tobe used to charge electric vehicles may overcome some of thedeficiencies of wired charging solutions. However, using electromagneticfields may induce eddy currents in a well conducting (e.g., metallic orferromagnetic) object located within the field, potentially causing theobject to heat up, vibrate or cause a nearby object to melt or catchfire. As such, wireless charging systems and methods that efficientlyand safely transfer power for charging electric vehicles are desirable.

SUMMARY

Various implementations of systems, methods and devices within the scopeof the appended claims each have several aspects, no single one of whichis solely responsible for the desirable attributes described herein.Without limiting the scope of the appended claims, some prominentfeatures are described herein.

Details of one or more implementations of the subject matter describedin this specification are set forth in the accompanying drawings and thedescription below. Other features, aspects, and advantages will becomeapparent from the description, the drawings, and the claims. Note thatthe relative dimensions of the following figures may not be drawn toscale.

One aspect of the disclosure provides an apparatus for detecting anobject. The apparatus comprises an inductive sensing coil that isconfigurable to generate a first magnetic field. The inductive sensingcoil is configured to have an electrical characteristic that isdetectable when generating the first magnetic field. The electricalcharacteristic is configured to vary as a function of a secondtime-varying magnetic field simultaneously applied to the object. Theapparatus further comprises a controller configured to detect a changein the electrical characteristic and determine a presence of the objectbased on the detected change in the electrical characteristic.

Another aspect of the disclosure provides an implementation of a methodfor detecting a presence of an object. The method comprises detecting achange in an electrical characteristic of an inductive sensing coil,wherein the electrical characteristic is detectable when the inductivesensing coil generates a first magnetic field and the electricalcharacteristic is configured to vary as a function of a secondtime-varying magnetic field simultaneously applied to the object. Themethod further comprises determining a presence of the object based onthe detected change in the electrical characteristic.

Yet another aspect of the disclosure provides a non-transitory,computer-readable medium comprising code that, when executed, causes anapparatus for detecting an object to detect a change in an electricalcharacteristic of an inductive sensing coil, wherein the electricalcharacteristic is detectable when the inductive sensing coil generates afirst magnetic field and the electrical characteristic is configured tovary as a function of a second time-varying magnetic fieldsimultaneously applied to the object. The code, when executed, furthercauses the apparatus to determine a presence of the object based on thedetected change in the electrical characteristic.

Yet another aspect of the disclosure provides an apparatus for detectinga presence of an object. The apparatus comprises means for detecting achange in an electrical characteristic of an inductive sensing coil,wherein the electrical characteristic is detectable when the inductivesensing coil generates a first magnetic field and the electricalcharacteristic is configured to vary as a function of a secondtime-varying magnetic field simultaneously applied to the object. Theapparatus further comprises means for determining a presence of theobject based on the detected change in the electrical characteristic.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram of an wireless power transfer system for charging anelectric vehicle, in accordance with some implementations.

FIG. 2 is a schematic diagram of core components of the wireless powertransfer system of FIG. 1.

FIG. 3 is another functional block diagram showing core and ancillarycomponents of the wireless power transfer system of FIG. 1.

FIG. 4 is a diagram of a simplified circuit for detecting aferromagnetic foreign object using an inductive sensing coil where theobject's electrical conductivity and magnetic permeability are afunction of exposure to a biasing static magnetic field, in accordancewith some implementations.

FIG. 5 is an equivalent circuit diagram of the simplified circuit fordetecting the ferromagnetic foreign object of FIG. 4.

FIG. 6 is a time diagram illustrating an effect of intermittent exposureof a ferromagnetic foreign object to a static magnetic field oncharacteristics of an inductive sensing coil, in accordance with someimplementations.

FIG. 7 is a diagram of a simplified circuit for detecting aferromagnetic foreign object using an inductive sensing coil where theobject's electrical conductivity and magnetic permeability are afunction of exposure to a biasing alternating magnetic field, inaccordance with some implementations.

FIG. 8 is an equivalent circuit diagram of the simplified circuit fordetecting the ferromagnetic foreign object of FIG. 7.

FIG. 9 is a time diagram illustrating an effect of intermittent exposureof a ferromagnetic foreign object to a biasing and heating alternatingmagnetic field on characteristics of an inductive sensing coil, inaccordance with some implementations.

FIG. 10 is a diagram illustrating a frequency spectrum of a voltagesignal sensed at an inductive sense coil measurement port while aferromagnetic foreign object is exposed to a biasing alternatingmagnetic field, in accordance with some implementations.

FIG. 11 is a diagram of a ferromagnetic foreign object detection circuitbased on a continuous waveform response approach, in accordance withsome implementations.

FIG. 12 is a diagram of another ferromagnetic foreign object detectionsystem based on a continuous waveform response approach, in accordancewith some implementations.

FIG. 13 is a diagram of yet another ferromagnetic foreign objectdetection system based on an impulse response approach, in accordancewith some implementations.

FIG. 14 is a flowchart of a method for detecting the presence of anobject, in accordance with some implementations.

FIG. 15 is a functional block diagram of an apparatus for detecting thepresence of an object, in accordance with some implementations.

The various features illustrated in the drawings may not be drawn toscale. Accordingly, the dimensions of the various features may bearbitrarily expanded or reduced for clarity. In addition, some of thedrawings may not depict all of the components of a given system, methodor device. Finally, like reference numerals may be used to denote likefeatures throughout the specification and figures.

DETAILED DESCRIPTION

The detailed description set forth below in connection with the appendeddrawings is intended as a description of implementations and is notintended to represent the only implementations in which the inventionmay be practiced. The term “exemplary” used throughout this descriptionmeans “serving as an example, instance, or illustration,” and should notnecessarily be construed as preferred or advantageous over otherimplementations. The detailed description includes specific details forthe purpose of providing a thorough understanding of theimplementations. In some instances, some devices are shown in blockdiagram form.

Wirelessly transferring power may refer to transferring any form ofenergy associated with electric fields, magnetic fields, electromagneticfields, or otherwise from a transmitter to a receiver without the use ofphysical electrical conductors (e.g., power may be transferred throughfree space). The power output into an electro-magnetic field (e.g., amagnetic field) may be received, captured by, or coupled by a “receivingcoupler” to achieve power transfer.

An electric vehicle is used herein to describe a remote system, anexample of which is a vehicle that includes, as part of its locomotioncapabilities, electrical power derived from a chargeable energy storagedevice (e.g., one or more rechargeable electrochemical cells or othertype of battery). As non-limiting examples, some electric vehicles maybe hybrid electric vehicles that include besides electric motors, atraditional combustion engine for direct locomotion or to charge thevehicle's battery. Other electric vehicles may draw all locomotionability from electrical power. An electric vehicle is not limited to anautomobile and may include motorcycles, carts, scooters, and the like.By way of example and not limitation, a remote system is describedherein in the form of an electric vehicle (EV). Furthermore, otherremote systems that may be at least partially powered using a chargeableenergy storage device are also contemplated (e.g., electronic devicessuch as personal computing devices and the like).

FIG. 1 is a diagram of an wireless power transfer system 100 forcharging an electric vehicle 112, in accordance with someimplementations. The wireless power transfer system 100 enables chargingof an electric vehicle 112 while the electric vehicle 112 is parked neara base wireless charging system 102 a. Spaces for two electric vehiclesare illustrated in a parking area to be parked over corresponding basewireless charging system 102 a and 102 b. In some implementations, alocal distribution center 130 may be connected to a power backbone 132and configured to provide an alternating current (AC) or a directcurrent (DC) supply through a power link 110 to the base wirelesscharging system 102 a. The base wireless charging system 102 a alsoincludes a base system coupler 104 a for wirelessly transferring orreceiving power. An electric vehicle 112 may include a battery unit 118,an electric vehicle coupler 116, and an electric vehicle wirelesscharging system 114. Each of the base wireless charging systems 102 aand 102 b also includes a base coupler 104 a and 104 b, respectively,for wirelessly transferring power. In some other implementations (notshown in FIG. 1), base couplers 104 a or 104 b may be stand-alonephysical units and are not part of the base wireless charging system 102a or 102 b. The electric vehicle coupler 116 may interact with the basesystem coupler 104 a for example, via a region of the electromagneticfield generated by the base system coupler 104 a.

In some implementations, the electric vehicle coupler 116 may receivepower when the electric vehicle coupler 116 is located in an energyfield produced by the base system coupler 104 a. The field correspondsto a region where energy output by the base system coupler 104 a may becaptured by an electric vehicle coupler 116. For example, the energyoutput by the base system coupler 104 a may be at a level sufficient tocharge or power the electric vehicle 112. In some cases, the field maycorrespond to the “near field” of the base system coupler 104 a. Thenear-field may correspond to a region in which there are strong reactivefields resulting from the currents and charges in the base systemcoupler 104 a that do not radiate power away from the base systemcoupler 104 a. In some cases the near-field may correspond to a regionthat is within about ½π of wavelength of the base system coupler 104 a(and vice versa for the electric vehicle coupler 116) as will be furtherdescribed below.

Local distribution 130 may be configured to communicate with externalsources (e.g., a power grid) via a communication backhaul 134, and withthe base wireless charging system 102 a via a communication link 108.

In some implementations the electric vehicle coupler 116 may be alignedwith the base system coupler 104 a and, therefore, disposed within anear-field region simply by the driver positioning the electric vehicle112 correctly relative to the base system coupler 104 a. In otherimplementations, the driver may be given visual, auditory, or tactilefeedback, or combinations thereof to determine when the electric vehicle112 is properly placed for wireless power transfer. In yet otherimplementations, the electric vehicle 112 may be positioned by anautopilot system, which may move the electric vehicle 112 back and forth(e.g., in zig-zag movements) until an alignment error has reached atolerable value. This may be performed automatically and autonomously bythe electric vehicle 112 without or with only minimal driverintervention provided that the electric vehicle 112 is equipped with aservo steering wheel, ultrasonic sensors, and intelligence to adjust thevehicle. In still other implementations, the electric vehicle coupler116, the base system coupler 104 a, or a combination thereof may havefunctionality for displacing and moving the couplers 116 and 104 arelative to each other to more accurately orient them and develop moreefficient coupling therebetween.

The base wireless charging system 102 a may be located in a variety oflocations. As non-limiting examples, some suitable locations include aparking area at a home of the electric vehicle 112 owner, parking areasreserved for electric vehicle wireless charging modeled afterconventional petroleum-based filling stations, and parking lots at otherlocations such as shopping centers and places of employment.

Charging electric vehicles wirelessly may provide numerous benefits. Forexample, charging may be performed automatically, virtually withoutdriver intervention and manipulations thereby improving convenience to auser. There may also be no exposed electrical contacts and no mechanicalwear out, thereby improving reliability of the wireless power transfersystem 100. Manipulations with cables and connectors may not be needed,and there may be no cables, plugs, or sockets that may be exposed tomoisture and water in an outdoor environment, thereby improving safety.There may also be no sockets, cables, and plugs visible or accessible,thereby reducing potential vandalism of power charging devices. Further,since an electric vehicle 112 may be used as distributed storage devicesto stabilize a power grid, a docking-to-grid solution may be used toincrease availability of vehicles for Vehicle-to-Grid (V2G) operation.

A wireless power transfer system 100 as described with reference to FIG.1 may also provide aesthetic and non-impedimental advantages. Forexample, there may be no charge columns and cables that may beimpedimental for vehicles and/or pedestrians.

As a further explanation of the vehicle-to-grid capability, the wirelesspower transmit and receive capabilities may be configured to bereciprocal such that the base wireless charging system 102 a transferspower to the electric vehicle 112 and the electric vehicle 112 transferspower to the base wireless charging system 102 a, e.g., in times ofenergy shortfall. This capability may be useful to stabilize the powerdistribution grid by allowing electric vehicles to contribute power tothe overall distribution system in times of energy shortfall caused byover demand or shortfall in renewable energy production (e.g., wind orsolar).

FIG. 2 is a schematic diagram of core components of the wireless powertransfer system 100 of FIG. 1. As shown in FIG. 2, the wireless powertransfer system 200 may include a base system transmit circuit 206including a base system coupler 204 having an inductance L₁. Thewireless power transfer system 200 further includes an electric vehiclereceive circuit 222 including an electric vehicle coupler 216 having aninductance L₂. Implementations of the couplers described herein may usecapacitively loaded wire loops (i.e., multi-turn coils) forming aresonant structure that is capable of efficiently coupling energy from aprimary structure (transmitter) to a secondary structure (receiver) viaa magnetic or electromagnetic near field if both primary and secondarycouplers (e.g., coils) are tuned to a common resonant frequency. Thecoils may be used for the electric vehicle coupler 216 and the basesystem coupler 204. Using resonant structures for coupling energy may bereferred to “magnetic coupled resonance,” “electromagnetic coupledresonance,” and/or “resonant induction.” The operation of the wirelesspower transfer system 200 will be described based on power transfer froma base wireless charging system 202 to an electric vehicle 112, but isnot limited thereto. For example, as discussed above, the electricvehicle 112 may transfer power to the base wireless charging system 102a.

With reference to FIG. 2, a power supply 208 (e.g., AC or DC) suppliespower P_(SDC) to the base wireless charging system 202 to transferenergy to an electric vehicle 112. The base wireless charging system 202includes a base charging system power converter 236. The base chargingsystem power converter 236 may include circuitry such as an AC/DCconverter configured to convert power from standard mains AC to DC powerat a suitable voltage level, and a DC/low frequency (LF) converterconfigured to convert DC power to power at an operating frequencysuitable for wireless high power transfer. The base charging systempower converter 236 supplies power P₁ to the base system transmitcircuit 206 including the capacitor C₁ in series with the base systemcoupler 204 to emit an electromagnetic field at a desired frequency. Thecapacitor C₁ may be coupled with the base system coupler 204 either inparallel or in series, or may be formed of several reactive elements inany combination of parallel or series topology. The capacitor C₁ may beprovided to form a resonant circuit with the base system coupler 204that resonates at a desired frequency. The base system coupler 204receives the power P₁ and wirelessly transmits power at a levelsufficient to charge or power the electric vehicle 112. For example, thepower level provided wirelessly by the base system coupler 204 may be onthe order of kilowatts (kW) (e.g., anywhere from 1 kW to 110 kW, higher,or lower).

The base system transmit circuit 206 including the base system coupler204 and electric vehicle receive circuit 222 including the electricvehicle coupler 216 may be tuned to substantially the same frequenciesand may be positioned within the near-field of an electromagnetic fieldtransmitted by one of the base system coupler 204 and the electricvehicle coupler 116. In this case, the base system coupler 204 andelectric vehicle coupler 116 may become coupled to one another such thatpower may be transferred to the electric vehicle receive circuit 222including capacitor C₂ and electric vehicle coupler 116. The capacitorC₂ may be provided to form a resonant circuit with the electric vehiclecoupler 216 that resonates at a desired frequency. The capacitor C₂ maybe coupled with the electric vehicle coupler 204 either in parallel orin series, or may be formed of several reactive elements in anycombination of parallel or series topology. Element k(d) represents themutual coupling coefficient resulting at coil separation d. Equivalentresistances R_(eq,1) and R_(eq,2) represent the losses that may beinherent to the couplers 204 and 216 and the anti-reactance capacitorsC₁ and C₂. The electric vehicle receive circuit 222 including theelectric vehicle coupler 316 and capacitor C₂ receives power P₂ andprovides the power P₂ to an electric vehicle power converter 238 of anelectric vehicle charging system 214.

The electric vehicle power converter 238 may include, among otherthings, a LF/DC converter configured to convert power at an operatingfrequency back to DC power at a voltage level matched to the voltagelevel of an electric vehicle battery unit 218. The electric vehiclepower converter 238 may provide the converted power P_(LDC) to chargethe electric vehicle battery unit 218. The power supply 208, basecharging system power converter 236, and base system coupler 204 may bestationary and located at a variety of locations as discussed above. Thebattery unit 218, electric vehicle power converter 238, and electricvehicle coupler 216 may be included in an electric vehicle chargingsystem 214 that is part of electric vehicle 112 or part of the batterypack (not shown). The electric vehicle charging system 214 may also beconfigured to provide power wirelessly through the electric vehiclecoupler 216 to the base wireless charging system 202 to feed power backto the grid. Each of the electric vehicle coupler 216 and the basesystem coupler 204 may act as transmit or receive couplers based on themode of operation.

While not shown, the wireless power transfer system 200 may include aload disconnect unit (LDU) to safely disconnect the electric vehiclebattery unit 218 or the power supply 208 from the wireless powertransfer system 200. For example, in case of an emergency or systemfailure, the LDU may be triggered to disconnect the load from thewireless power transfer system 200. The LDU may be provided in additionto a battery management system for managing charging to a battery, or itmay be part of the battery management system.

Further, the electric vehicle charging system 214 may include switchingcircuitry (not shown) for selectively connecting and disconnecting theelectric vehicle coupler 216 to the electric vehicle power converter238. Disconnecting the electric vehicle coupler 216 may suspend chargingand also may adjust the “load” as “seen” by the base wireless chargingsystem 102 a (acting as a transmitter), which may be used to “cloak” theelectric vehicle charging system 114 (acting as the receiver) from thebase wireless charging system 102 a. The load changes may be detected ifthe transmitter includes the load sensing circuit. Accordingly, thetransmitter, such as a base wireless charging system 202, may have amechanism for determining when receivers, such as an electric vehiclecharging system 114, are present in the near-field of the base systemcoupler 204.

As described above, in operation, assuming energy transfer towards thevehicle or battery, input power is provided from the power supply 208such that the base system coupler 204 generates a field for providingthe energy transfer. The electric vehicle coupler 216 couples to theradiated field and generates output power for storage or consumption bythe electric vehicle 112. As described above, in some implementations,the base system coupler 204 and electric vehicle coupler 116 areconfigured according to a mutual resonant relationship such that whenthe resonant frequency of the electric vehicle coupler 116 and theresonant frequency of the base system coupler 204 are very close orsubstantially the same. Transmission losses between the base wirelesscharging system 202 and electric vehicle charging system 214 are minimalwhen the electric vehicle coupler 216 is located in the near-field ofthe base system coupler 204.

As stated, an efficient energy transfer occurs by coupling a largeportion of the energy in the near field of a transmitting coupler to areceiving coupler rather than propagating most of the energy in anelectromagnetic wave to the far-field. When in the near field, acoupling mode may be established between the transmit coupler and thereceive coupler. The area around the couplers where this near fieldcoupling may occur is referred to herein as a near field coupling moderegion.

While not shown, the base charging system power converter 236 and theelectric vehicle power converter 238 may both include an oscillator, adriver circuit such as a power amplifier, a filter, and a matchingcircuit for efficient coupling with the wireless power coupler. Theoscillator may be configured to generate a desired frequency, which maybe adjusted in response to an adjustment signal. The oscillator signalmay be amplified by a power amplifier with an amplification amountresponsive to control signals. The filter and matching circuit may beincluded to filter out harmonics or other unwanted frequencies and matchthe impedance of the power conversion module to the wireless powercoupler. The power converters 236 and 238 may also include a rectifierand switching circuitry to generate a suitable power output to chargethe battery.

The electric vehicle coupler 216 and base system coupler 204 asdescribed throughout the disclosed implementations may be referred to orconfigured as “loop” antennas, and more specifically, multi-turn loopantennas. The couplers 204 and 216 may also be referred to herein or beconfigured as “magnetic” antennas. The term “coupler” is intended torefer to a component that may wirelessly output or receive energy forcoupling to another “coupler.” The coupler may also be referred to as an“antenna” of a type that is configured to wirelessly output or receivepower. As used herein, couplers 204 and 216 are examples of “powertransfer components” of a type that are configured to wirelessly output,wirelessly receive, and/or wirelessly relay power. Loop (e.g.,multi-turn loop) antennas may be configured to include an air core or aphysical core such as a ferrite core. An air core loop antenna may allowthe placement of other components within the core area. Physical coreantennas including ferromagnetic or ferromagnetic materials may allowdevelopment of a stronger electromagnetic field and improved coupling.

As discussed above, efficient transfer of energy between a transmitterand receiver occurs during matched or nearly matched resonance between atransmitter and a receiver. However, even when resonance between atransmitter and receiver are not matched, energy may be transferred at alower efficiency. Transfer of energy occurs by coupling energy from thenear field of the transmitting coupler to the receiving coupler residingwithin a region (e.g., within a predetermined frequency range of theresonant frequency, or within a predetermined distance of the near-fieldregion) where this near field is established rather than propagating theenergy from the transmitting coupler into free space.

A resonant frequency may be based on the inductance and capacitance of atransmit circuit including a coupler (e.g., the base system coupler 204)as described above. As shown in FIG. 2, inductance may generally be theinductance of the coupler (e.g., coil), whereas, capacitance may beadded to the coupler to create a resonant structure at a desiredresonant frequency. As a non-limiting example, as shown in FIG. 2, acapacitor may be added in series with the coupler to create a resonantcircuit (e.g., the base system transmit circuit 206) that generates anelectromagnetic field. Accordingly, for larger diameter couplers, thevalue of capacitance needed to induce resonance may decrease as thediameter or inductance of the coupler increases. Inductance may alsodepend on a number of turns of a coil. Furthermore, as the diameter ofthe coupler increases, the efficient energy transfer area of the nearfield may increase. Other resonant circuits are possible. As another nonlimiting example, a capacitor may be placed in parallel between the twoterminals of the coupler (e.g., a parallel resonant circuit).Furthermore a coupler may be designed to have a high quality (Q) factorto improve the resonance and reduce losses of the coupler. For example,the native Q factor may be 300 or greater.

As described above, according to some implementations, coupling powerbetween two couplers that are in the near field of one another isdisclosed. As described above, the near field may correspond to a regionaround the coupler in which electromagnetic fields exist but may notpropagate or radiate away from the coupler. Near-field coupling-moderegions may correspond to a volume that is near the physical volume ofthe coupler, typically within a small fraction of the wavelength.According to some implementations, electromagnetic couplers, such assingle and multi-turn loop antennas, are used for both transmitting andreceiving since magnetic near field amplitudes in practicalimplementations tend to be higher for magnetic type coils in comparisonto the electric near fields of an electric type antenna (e.g., a smalldipole). This allows for potentially higher coupling between the pair.Furthermore, “electric” antennas (e.g., dipoles and monopoles) or acombination of magnetic and electric antennas may be used.

FIG. 3 is another functional block diagram showing core and ancillarycomponents of the wireless power transfer system 100 of FIG. 1 and/orthat wireless power transfer system 200 of FIG. 2 may be part of. Thewireless power transfer system 300 illustrates a communication link 376,a guidance link 366, and alignment mechanism 356 capable of mechanicallymoving one or both of the base system coupler 304 and electric vehiclecoupler 316 via base alignment system 352 and electric vehicle alignmentsystems 354. The guidance link 366 may be capable of bi-directionalsignaling, meaning that guidance signals may be emitted by the baseguidance system 362 or the electric vehicle guidance system 364 or byboth. As described above with reference to FIG. 2, and assuming energyflow towards the electric vehicle 112, in FIG. 3 a base charging systempower interface 348 may be configured to provide power to a chargingsystem power converter 336 from a power source, such as an AC or DCpower supply 126. The base charging system power converter 336 mayreceive AC or DC power from the base charging system power interface 348to excite the base system coupler 304 at or near its resonant frequency.The electric vehicle coupler 316, when in the near field coupling-moderegion, may receive energy from the near field coupling mode region tooscillate at or near the resonant frequency. The electric vehicle powerconverter 338 converts the oscillating signal from the electric vehiclecoupler 316 to a power signal suitable for charging a battery via theelectric vehicle power interface.

The base wireless charging system 302 includes a base charging systemcontroller 342 and the electric vehicle charging system 314 includes anelectric vehicle controller 344. The base charging system controller 342may include a base charging system communication interface 358 to othersystems (not shown) such as, for example, a computer, and a powerdistribution center, or a smart power grid. The electric vehiclecontroller 344 may include an electric vehicle communication interfaceto other systems (not shown) such as, for example, an on-board computeron the vehicle, other battery charging controller, other electronicsystems within the vehicles, and remote electronic systems.

The base charging system controller 342 and electric vehicle controller344 may include subsystems or modules for specific application withseparate communication channels. These communications channels may beseparate physical channels or separate logical channels. As non-limitingexamples, a base charging alignment system 352 may communicate with anelectric vehicle alignment system 354 through a communication link 376to provide a feedback mechanism for more closely aligning the basesystem coupler 304 and electric vehicle coupler 316, either viaautonomous, mechanical (kinematic) alignment or with operatorassistance. Similarly, a base charging guidance system 362 maycommunicate with an electric vehicle guidance system 364 through aguidance link 366 to provide a feedback mechanism to guide an operatorin aligning the base system coupler 304 and electric vehicle coupler316. In addition, there may be separate general-purpose communicationlinks (e.g., channels) supported by base charging communication system372 and electric vehicle communication system 374 for communicatingother information between the base wireless charging system 302 and theelectric vehicle charging system 314. This information may includeinformation about electric vehicle characteristics, batterycharacteristics, charging status, and power capabilities of both thebase wireless charging system 302 and the electric vehicle chargingsystem 314, as well as maintenance and diagnostic data for the electricvehicle 112. These communication channels may be separate physicalcommunication channels such as, for example, Bluetooth, zigbee,cellular, etc.

Electric vehicle controller 344 may also include a battery managementsystem (BMS) (not shown) that manages charge and discharge of theelectric vehicle principal battery, a parking assistance system based onmicrowave or ultrasonic radar principles, a brake system configured toperform a semi-automatic parking operation, and a steering wheel servosystem configured to assist with a largely automated parking ‘park bywire’ that may provide higher parking accuracy, thus reducing the needfor mechanical horizontal coupler alignment in any of the base wirelesscharging system 102 a and the electric vehicle charging system 114.Further, electric vehicle controller 344 may be configured tocommunicate with electronics of the electric vehicle 112. For example,electric vehicle controller 344 may be configured to communicate withvisual output devices (e.g., a dashboard display), acoustic/audio outputdevices (e.g., buzzer, speakers), mechanical input devices (e.g.,keyboard, touch screen, and pointing devices such as joystick,trackball, etc.), and audio input devices (e.g., microphone withelectronic voice recognition).

Furthermore, the wireless power transfer system 300 may includedetection and sensor systems. For example, the wireless power transfersystem 300 may include sensors for use with systems to properly guidethe driver or the vehicle to the charging spot, sensors to mutuallyalign the couplers with the required separation/coupling, sensors todetect objects that may obstruct the electric vehicle coupler 316 frommoving to a particular height and/or position to achieve coupling, andsafety sensors for use with systems to perform a reliable, damage free,and safe operation of the system. For example, a safety sensor mayinclude a sensor for detection of presence of animals or childrenapproaching the wireless power couplers 104 a, 116 beyond a safetyradius, detection of objects near the base system coupler 304 that maybe heated up (induction heating), detection of hazardous events such asincandescent objects on the base system coupler 304, and temperaturemonitoring of the base wireless charging system 302 and electric vehiclecharging system 314 components.

The wireless power transfer system 300 may also support plug-in chargingvia a wired connection. A wired charge port may integrate the outputs ofthe two different chargers prior to transferring power to or from theelectric vehicle 112. Switching circuits may provide the functionalityas needed to support both wireless charging and charging via a wiredcharge port.

To communicate between a base wireless charging system 302 and anelectric vehicle charging system 314, the wireless power transfer system300 may use both in-band signaling and/or out-of-band signaling.Out-of-band communication may be carried out using an RF data modem(e.g., Ethernet over radio in an unlicensed band). The out-of-bandcommunication may provide sufficient bandwidth for the allocation ofvalue-add services to the vehicle user/owner. A low depth amplitude orphase modulation of the wireless power carrier may serve as an in-bandsignaling system with minimal interference.

In addition, some communication may be performed via the wireless powerlink without using specific communications antennas. For example, thewireless power couplers 304 and 316 may also be configured to act aswireless communication transmitters. Thus, some implementations of thebase wireless charging system 302 may include a controller (not shown)for enabling keying type protocol on the wireless power path. By keyingthe transmit power level (amplitude shift keying) at predefinedintervals with a predefined protocol, the receiver may detect a serialcommunication from the transmitter. The base charging system powerconverter 336 may include a load sensing circuit (not shown) fordetecting the presence or absence of active electric vehicle receiversin the vicinity of the near field generated by the base system coupler304. By way of example, a load sensing circuit monitors the currentflowing to the power amplifier, which is affected by the presence orabsence of active receivers in the vicinity of the near field generatedby base system coupler 104 a. Detection of changes to the loading on thepower amplifier may be monitored by the base charging system controller342 for use in determining whether to enable the oscillator fortransmitting energy, to communicate with an active receiver, or acombination thereof.

To enable wireless high power transfer, some implementations may beconfigured to transfer power at a frequency in the range from 20-150kHz. This low operating frequency may allow highly efficient powerconversion that may be achieved using solid state devices. In addition,there may be less coexistence issues with radio systems compared toother bands.

With respect to induction charging, depending on the energy transferrate (power level), operating frequency, size and design of the primaryand secondary magnetic structures and the distance between them, theflux density in the air gap at some locations may exceed 0.5 mT and mayreach several Millitesla. If an object that includes a certain amount ofconductive material (e.g., such as metal) is inserted into the spacebetween the primary and secondary structures, eddy currents aregenerated in this object (Faraday's and Lenz's law), that may lead topower dissipation and subsequent heating effects. This induction heatingeffect depends on the magnetic flux density, the frequency of thetime-varying magnetic field (e.g., an alternating magnetic field), andthe size, shape, orientation and conductivity of the object's conductingstructure. When the object is exposed to the magnetic field for asufficiently long time, it may heat up to temperatures that may beconsidered hazardous in several regards. One hazard may be self-ignitionif the object includes inflammable materials or if it is in directcontact with such materials, e.g., a cigarette package including a thinmetallic foil or metallic film. Another hazard may be burning the handof a person that may pick-up such a hot object, e.g., a coin or a key.Another hazard may be damaging the plastic enclosure of the primary orsecondary structure, e.g., an object melting into the plastic.

A temperature increase may be also expected in objects includingferromagnetic materials that may be substantially non-conducting butexhibiting a pronounced hysteresis effect or in materials that generateboth hysteresis and eddy current losses. As such, detecting such objectsis beneficial to avoid corresponding harmful consequences. If the objectdetection system is integrated within a system for providing wirelesspower, in response to detecting a harmful object, the system may reducea power level or shut down until measures may be taken to remove theharmful object. Sensing objects based on their changing temperatureinductively may be called “inductive thermal sensing.”

In certain applications of inductive power transfer such as charging ofelectric vehicles in domestic and public zones, it may be compulsory forreasons of safety of persons and equipment to be able to detect foreignobjects that have the potential to heat up to critical temperatures.This may be particularly true in systems where the critical space isopen and accessible such that foreign objects may get accidentally orintentionally placed in this space (e.g., in case of sabotage).

Implementations described herein are directed to automatically detectinghazardous ferromagnetic foreign objects (e.g., metal objects includingferromagnetic materials) that may be located in a predetermined space.In particular, certain implementations are directed to detecting smallmetal objects (e.g., a coin) located adjacent to a surface of theprimary or secondary magnetic structure where magnetic flux density mayexceed a particular value (e.g., 0.5 mT).

The methods and concepts disclosed herein enable inductive detection ofobjects of another category of foreign metallic objects that change someelectromagnetic properties or electrical characteristics instantaneouslyupon exposing the object to a biasing magnetic field. Such magneticbiasing effects can be observed in ferromagnetic materials e.g. iron,steel but also in ferrites (e.g. soft ferrites).

Metallic objects containing ferromagnetic materials are a potentialhazard as they may heat up to critical temperatures when exposed to analternating magnetic field at a level that is typically produced insidethe functional space of an Inductive Power Transfer (IPT) system. Thismay be particularly true for lengthy objects if oriented with their longside (easy axis of magnetization) in the direction of the IPT magneticfield. Detecting ferromagnetic metallic objects is therefore ofparticular importance. Many objects used in daily life such as tools,screws, nuts, washers, nails, paper clips, etc. belong to this category.Some objects of this category may also fall into the category of objectsthat heat up rapidly and whose electrical conductivity and/or magneticpermeability also change substantially as the object's temperatureincreases or decreases.

Most of the means and functions used for ordinary inductive sensing ofmetallic (electrically conductive) objects may also apply to the methodsand concepts disclosed herein for the detection of ferromagneticmetallic objects. Therefore, these methods and concepts should beconstrued as another additive feature of an enhanced metal objectdetection apparatus, not necessarily requiring a separate, additionalapparatus.

Sensors and other parts of the foreign object detection systemsdisclosed herein are conceived to be integrated into an IPT coupler (IPTpad) and, in particular, into the IPT base coupler (base pad). However,the principal methods and concepts disclosed herein may also apply to avehicle coupler (vehicle pad) integration and also to non-integratedstand-alone (discrete) solutions. The IPT coupler may be one of aso-called “circular”-type coupler (using a “circular” coil), a “DoubleD”-type coupler (using a double coil arrangement), a “Solenoid”-typecoupler (using a solenoid coil wound around a core), a “Bi-polar”-typecoupler (using a double coil arrangement with virtually zero couplingbetween coils) or any other type of coupler based on a single ormulti-coil arrangement. An IPT coupler may be composed of a planar coilstructure (e.g. made of a Copper Litz wire), a planar ferrite structure(e.g. soft ferrite material) backing the coil, and a conductive backplate (e.g. made of aluminum) disposed on a surface of the planarferrite structure opposite to the surface of the coil.

Descriptions and drawings herein assume a single ferromagnetic foreignobject for the sake of simplicity. However, methods and apparatusesdisclosed herein generally have the potential to detect an abnormalstate due to the presence of more than one ferromagnetic foreign objectwithin a predetermined space.

Electrically conductive and ferromagnetic objects exposed to a lowfrequency alternating magnetic field, e.g. an IPT magnetic field in therange from 20 to 150 kHz with a flux density in the order of 1 mT orabove, may heat up to hazardous temperatures, e.g., above 500 K. This isparticularly true for lengthy ferromagnetic objects if their longer axisis substantially oriented in a direction of the magnetic field. Objectswith temperatures greater than 500 K may be considered a potential riskfor fire if the object comes in contact with a flammable material suchas paper, dry foliage, oil, fuel, etc. Therefore, such objects must beconsidered a safety issue for an IPT system generating magnetic fluxdensity levels in the Millitesla (mT) range in its functional space, ifopen and accessible. If laying directly on the surface of a base pad,such hot objects may also cause damage since they could melt or burn theplastic enclosure.

The presence of a ferromagnetic (e.g., metallic) object in apredetermined space can be detected inductively by measuring at leastone electrical characteristic (e.g., an equivalent inductance, anequivalent resistance, a frequency response, or an impulse response) atthe terminals of at least one loop of an electrical conductor, hereincalled an inductive sensing coil. A ferromagnetic object of sufficientsize that is sufficiently close to an inductive sensing coil will alterthe sensing magnetic field as generated by that inductive sensing coilso as to exert a measurable impact on one or more of the above-mentionedelectrical characteristics. Furthermore, in some implementations, aferromagnetic object may be detected by comparing a measured sample ofat least one of the above-mentioned electrical characteristics with areference sample of that same at least one characteristic. Such areference sample may have been obtained in a process of calibration inabsence of any ferromagnetic foreign object, for example.

However, for increased detection sensitivity requirements, and incertain use cases, this basic approach may not provide a reliableforeign object detection solution. For example, if other metallic ormagnetic structures are located in the sensing range of the foreignobject detection system and are not stationary, the structures' effectson the characteristics of the inductive sense coil will also dynamicallychange. Thus, a simple calibration process cannot nullify the effects ofsuch other metallic structures. In a ground-to-vehicle inductivecharging application with a foreign object detection integrated into thebase pad, such a disturbing structure may include the vehicle IPTcoupler and/or the vehicle's underbody. In addition, electricallyconductive or magnetic structures in the base pad may also exert avariable measurable effect on one the characteristics of one or moreinductive sensing coils. Such effects may be due to, e.g., smallmovements caused by mechanical stress, varying temperature, and/orchanges in the electrical and/or magnetic properties of these structuresas a consequence of a changing temperature or magnetic field, forexample. Moreover, electrical characteristics of such an inductive sensecoil itself may change due to mechanical stress, temperature effects, orchanges in the electric properties of the surrounding insulatingmaterials, resulting in a change of the inductive sense coil'sself-capacitance or ground capacitance. The effects of a changingenvironment may be manageable in a system designed for detectingmetallic objects located near a surface (essentially in atwo-dimensional space), but they may become a major challenge in aforeign object detection system designed for increased sensitivity,e.g., for detecting metal objects in an extended (three-dimensional)space.

Ferromagnetic metallic (e.g., conductive) objects can potentially bedetected inductively, e.g., in the MHz frequency range, through aninstantaneous change of one or more characteristics (e.g., equivalentinductance and/or equivalent resistance) of an inductive sense coil thatoccurs when exposed to a strong enough static biasing magnetic field. Itappears that the electrical conductivity, and generally also themagnetic permeability, of a ferromagnetic object instantaneously changeswhen exposed to the biasing static magnetic field. The biasing staticmagnetic field may be considered to exert a biasing effect on theelectromagnetic material properties of the ferromagnetic object. Thiseffect is typically relatively weak for most ferromagnetic metallicobjects that are subjected to a static biasing magnetic field. Thisrelatively weak effect can be explained by a known magneto-impedanceeffect of ferromagnetic objects.

However, the impact on an equivalent inductance or an equivalentresistance of the inductive sense coil is several orders of magnitudelarger (e.g., 100 to 1000 times larger) than what could be explained bythe above-described magneto-impedance effect when the ferromagneticobject is exposed to a biasing low-frequency time-varying magnetic field(e.g., alternating magnetic field). This comparatively strong effectcannot be explained by the ordinary magneto-impedance effect, as mayapply to static biasing magnetic fields. For some implementations ofIPT, a biasing alternating magnetic field may be the low-frequencyalternating magnetic field as generated for power transfer, thuseliminating the need for an auxiliary biasing alternating magneticfield. In other implementations, the biasing alternating magnetic fieldmay be a different alternating magnetic field from that used for powertransfer.

Exposing ferromagnetic objects to the IPT magnetic field generallymodulates the object's apparent electrical conductivity and magneticpermeability, which may, in turn, result in a modulation of theequivalent resistance and/or equivalent inductance as measured at theterminals of the inductive sense coil at sense frequencies. Depending onthe impact of the ferromagnetic object on the equivalent inductanceand/or resistance of the sense coil, this low frequency modulation maybe of a very small degree, e.g., less than 1%.

In some implementations, the modulating effect on the apparentconductivity and permeability of the ferromagnetic object may also beaccompanied by a Joule heating effect due to eddy current and/orhysteresis losses within the skin depth of the ferromagnetic objectcaused by the biasing alternating magnetic field. The Joule heatingeffect will increase the temperature of the ferromagnetic object andwill consequently also alter the apparent electrical conductivity andmagnetic permeability of the ferromagnetic object, depending on thetemperature coefficient of the ferromagnetic object.

FIG. 4 is a diagram of a simplified circuit 400 for detecting aferromagnetic foreign object (e.g., foreign object 450) using aninductive sensing coil 402 where the object's electrical conductivityand magnetic permeability are a function of exposure to a biasing staticmagnetic field 415, in accordance with some implementations. The circuit400 includes the inductive sensing coil 402, which may comprise a coilof one or more loops and a foreign object 450 exposed to a staticmagnetic field {right arrow over (B)}_(exp)(t) 415. The inductivesensing coil 402 may be excited by a sinusoidal signal source 404 at avoltage v_(s)(t) 406 and a sense frequency (f_(s)) resulting in a sensecurrent i_(s)(t) 408. The static magnetic field {right arrow over(B)}_(exp)(t) 415 magnetically biases the foreign object 450. Theforeign object's 450 electrical conductivity σ({right arrow over(B)}_(exp)) 410 and magnetic permeability μ({right arrow over(B)}_(exp)) 412 as apparent through inductive sensing are generallyfunctions of the biasing static magnetic field {right arrow over(B)}_(exp). Since equivalent inductance and resistance are functions ofσ({right arrow over (B)}_(exp)) and μ({right arrow over (B)}_(exp)) apresence of the foreign object 450 can be potentially detected byanalyzing current i_(s)(t) in relation to source voltage v_(s)(t) 515and the strength of the static magnetic field {right arrow over(B)}_(exp).

FIG. 5 is an equivalent circuit diagram 500 of the simplified circuit400 for detecting the foreign object 450 of FIG. 4. The equivalentseries circuit 500 may be applicable to a steady state of a sinusoidalexcitation of an inductive sensing coil (e.g., sense coil 402 of FIG. 4)by a voltage v_(s)(t) having frequency f_(s), which induces a currenti_(s)(t) to circulate in the circuit 500. The equivalent series circuit500 comprises a series inductance L_(sc) 505 representing the system'soverall energy storage effect and a series resistance R_(sc) 510representing the system's overall loss effects. The equivalent seriescircuit 500 also comprises differential inductance Δ_(Lsc)({right arrowover (B)}_(exp)) 506 and differential resistance ΔR_(sc)({right arrowover (B)}_(exp)) 511, which represent the inductive and resistiveeffects, respectively, exerted by a ferromagnetic object (e.g., theforeign object 450 of FIG. 4) in the influence zone of the inductivesense coil (e.g., the inductive sense coil 402 of FIG. 4). Differentialinductance ΔL_(sc)({right arrow over (B)}_(exp)) 506 and differentialresistance ΔR_(sc)({right arrow over (B)}_(exp)) 511 of the foreignobject 450 are affected instantaneously when the object is exposed tothe biasing static magnetic field {right arrow over (B)}_(exp).

FIG. 6 is a time diagram 600 illustrating an effect of intermittentexposure of a ferromagnetic foreign object to a static magnetic field{right arrow over (B)}_(exp) on characteristics of the inductive sensecoil (e.g., the inductive sense coil 402 of FIG. 4), in accordance withsome implementations. As shown in FIG. 6, a foreign object (e.g.,foreign object 450 of FIG. 4) is intermittently exposed to the staticbiasing magnetic field {right arrow over (B)}_(exp). The detectionmethod is based on “stimulated” inductive impedance and resistancesensing where at a minimum, stimulation may comprise at least oneexposure ON interval 606 followed by an exposure OFF interval 607. FIG.6 shows this toggling of the static magnetic field {right arrow over(B)}_(exp) according to line 601. FIG. 6 additionally shows theresulting time variations of sense coil's equivalent inductanceL_(sc)+ΔL_(sc)(t) 610 and equivalent resistance R_(sc)+ΔR_(sc)(t) 615.As shown, and according to the known magneto-impedance effect, both theequivalent inductance L_(sc)+ΔL_(sc)(t) 610 and the equivalentresistance R_(sc)+ΔR_(sc)(t) 615 decrease during the exposure ONintervals 606 and increase during the exposure OFF interval 607. Thesecharacteristic variations may reveal the presence of a ferromagneticforeign object.

For example, in an implementation, at least one of an inductive sensecoil 402's characteristics e.g., an equivalent resistanceR_(sc)+ΔR_(sc)(t) 615, is measured constantly and recorded over a timeperiod of at least a fraction of an exposure interval (e.g., ON interval606 and OFF interval 607) including the start. To determine a presenceof a foreign object 450, in some implementations, the at least onerecorded time course of resistance R_(sc)+ΔR_(sc)(t) 615 is comparedwith the exposure time profile 601 for B_(exp) (t) 605. In some otherimplementations, this comparison is a correlation. The recorded timecourse of resistance R_(sc)+ΔR_(sc)(t) 615 or other sense coil 402characteristic is correlated with the exposure time profile 601 forB_(exp) (t) 605. In a further implementation, correlation is performedwith at least one of a time-derivative, e.g., the first derivative d/dt(the time gradient) of the recorded time course of at least one of aninductive sense coil 402's characteristics.

FIG. 7 is a diagram of a simplified circuit 700 for detecting aferromagnetic foreign object (e.g., foreign object 750) using aninductive sensing coil 702 where the object's electrical conductivityσ({right arrow over (B)}_(exp),ϑ) and magnetic permeability μ({rightarrow over (B)}_(exp),ϑ), are a function of exposure to a biasingtime-varying magnetic field {right arrow over (B)}_(exp)(t), inaccordance with some implementations. In some implementations, thebiasing time-varying (e.g., alternating) magnetic field {right arrowover (B)}_(exp)(t) may be the IPT low frequency magnetic field. In suchcases, means for generating a second time-varying magnetic field maycomprise one or more IPT transmit coils. The alternating magnetic field{right arrow over (B)}_(exp)(t) may alternate with a frequency f_(IPT).As with the static magnetic field previously described in connectionwith FIG. 4, the foreign object's 750 apparent electrical conductivityσ({right arrow over (B)}_(exp),ϑ) and magnetic permeability μ({rightarrow over (B)}_(exp),ϑ) vary in some relationship to the alternatingexposure field {right arrow over (B)}_(exp)(t), so as to modulatecurrent i_(s)(t), which is driven by the voltage v_(s)(t) provided bythe voltage source 704. However, as the notation shows, σ({right arrowover (B)}_(exp),ϑ) and μ({right arrow over (B)}_(exp),ϑ) are normallyalso functions of the object's temperature ϑ, and are thus alsoindirectly affected by the biasing alternating magnetic field {rightarrow over (B)}_(exp)(t) via the Joule heating effect. However, testingwith many different objects has shown that this Joule heating effect isgenerally much weaker than the modulating effect due to exposure to thebiasing alternating magnetic field, and changes due to the Joule heatingeffects are also orders of magnitude slower than the nearlyinstantaneous changes due to this novel modulating effect, depending onthe thermal capacity of the foreign object 750 and the heating power.The presence of the foreign object 750 can potentially be detected byanalyzing the current i_(s)(t) in relation to source voltage v_(s)(t)and to the exposure field signal {right arrow over (B)}_(exp)(t) by thismodulating effect and, in some cases, also by the thermal effect.

FIG. 8 is an equivalent circuit 800 diagram of the simplified circuit700 for detecting the foreign object 750 of FIG. 7. The equivalentcircuit 800 of FIG. 8 comprises a voltage source 818 providing a voltagev_(s)(t), which drives a current i_(s)(t) through a series connection ofan equivalent inductance L_(sc) 808, an equivalent series resistanceR_(sc) 810, and the portions of the equivalent inductance ΔL_(sc)({rightarrow over (B)}_(exp),ϑ) 806 and of the equivalent resistanceΔR_(sc)({right arrow over (B)}_(exp),ϑ) 811 that can be attributed tothe presence of the foreign object 750 and that are generally affectedby both the modulating and the thermal effects when exposed to thealternating magnetic field {right arrow over (B)}_(exp)(t).

FIG. 9 is a time diagram 900 illustrating an effect of intermittentexposure of a ferromagnetic foreign object to a biasing and heatingalternating magnetic field {right arrow over (B)}_(exp) oncharacteristics of an inductive sense coil, in accordance with someimplementations. A first time course 915 shows the inductive sensecoil's 702 equivalent resistance R_(sc)+R_(sc)(t) and a second timecourse 910 shows the inductive sense coil's 702 equivalent inductanceL_(sc)+ΔL_(sc)(t). A third time course 905 shows the alternatingmagnetic field {right arrow over (B)}_(exp)(t) having ON intervals 906separated by an OFF interval 907, while a fourth time course 920 showsthe temperature ϑ(t) of the foreign object 750, having initialtemperature ϑ₀. In the presence of the foreign object 750, theequivalent resistance and the equivalent inductance are periodicallyvarying with a frequency (modulating frequency) that is double that ofthe frequency f_(IPT) of the alternating magnetic field {right arrowover (B)}_(exp)(t). This frequency doubling effect indicates that thismodulation of electromagnetic material properties is independent of thesign of the alternating magnetic field {right arrow over (B)}_(exp)(t),and thus provides a rectifying effect. In addition, the short termaverage of the equivalent resistance, shown as the sloped dotted line,instantaneously increases when the alternating magnetic field {rightarrow over (B)}_(exp)(t) is turned ON. This is an opposite effect fromthat previously described with respect to the ordinary magneto-impedanceeffect in FIG. 6, where the equivalent resistance decreases withexposure to the static magnetic field. In addition, the temperatureeffect can be seen by the slight slope of this short term average of theequivalent resistance and of the short term average of the equivalentinductance 910, which follow the temperature time course 920 of theforeign object 750 resulting from the Joule heating effect.

For a sensing system using the sinusoidal sense voltage v_(s)(t), thismodulation effect can be generally observed in the time domain as anamplitude and phase modulation of the resulting current i_(s)(t) (seeFIGS. 7 and 8). For some ferromagnetic objects (e.g. paper clips) thismodulation effect may be highly non-linear, manifesting in a periodicsequence of short pulses, however, always with a fundamental frequencythat is twice that of the frequency f_(IPT) of the alternating magneticfield {right arrow over (B)}_(exp)(t). The degree of modulation dependson the impact of the foreign object 750 on the inductive sense coil's702 equivalent inductance and equivalent resistance, as well as on thematerial and the orientation of the foreign object 750. In the frequencydomain, this modulation can be observed as modulation harmonicside-bands up to several orders, as illustrated by the frequencyspectrum 1000 of FIG. 10.

FIG. 10 is a diagram illustrating a frequency spectrum 1000 of a voltagesignal sensed at an inductive sense coil measurement port while aferromagnetic object is exposed to a biasing alternating magnetic field{right arrow over (B)}_(exp)(t), in accordance with someimplementations. If the alternating magnetic field {right arrow over(B)}_(exp)(t) is the IPT magnetic field, modulation harmonics generallymay occur at the harmonics of the IPT frequency f_(IPT) (e.g.,f_(s)±n·f_(IPT), where n is the order of the modulation harmonic). Intheory, since the modulation mechanism is independent of the sign of thealternating magnetic field {right arrow over (B)}_(exp)(t), nosubstantial odd order harmonics are expected, which can be seen by thesubstantially zero voltage level of any of the 3^(rd) and 5^(th) orderharmonics shown in spectrum 1000. However, in practical systems someresidual first order (e.g., f_(s)±f_(IPT)) and other odd order harmonicproducts may be observed, attributable to some non-linear distortioneffects in the analog signal processing.

FIG. 11 is a diagram of a ferromagnetic foreign object detection circuit1100 based on a continuous waveform response approach, in accordancewith some implementations. As shown in FIG. 11, an IPT coil 1120 and aIPT power source 1122 may be used to magnetically bias ferromagneticforeign objects (e.g., the foreign object 1150) with an alternatingmagnetic field {right arrow over (B)}_(exp)(t). The circuit 1100includes an inductive sensing coil 1102 connected in series with acapacitor C_(res) 1104, and a shunt inductor L_(sh) 1106 connected inparallel with the series combination of the capacitor 1104 and the coil1102. The circuit 1100 additionally includes a measurement port 1110,indicated by the dashed line, in parallel with the shunt inductor 1106.The measurement port 1110 includes a voltage sensor 1115 and a currentsensor 1116 and is further connected to a sense signal voltage source1112 via a series resistor R_(res) 1111. The sense signal voltage source1112 is configured to generate a sinusoidal (harmonic) sense signal andfurther includes an input for controlling the sense frequency f_(s).

The circuit 1100 further comprises an impedance analyzer 1108 that isconfigured to receive, as inputs, the outputs of the voltage sensor 1115and the current sensor 1116. The impedance analyzer 1108 is furtherconfigured to output an impedance Z_(s)(t) determination to anevaluation & control unit 1140 and to receive an IPT reference signal1124 for frequency and phase synchronization purposes from the IPT powersource 1122.

The evaluation & control unit 1140 controls the sense frequency f_(s)via an output 1118 provided to the sense signal voltage source 1112 andalso controls the alternating magnetic field {right arrow over(B)}_(exp)(t) via another output 1142 provided to the IPT power source1122. The evaluation & control unit 1140 additionally comprises an inputto receive the IPT reference signal 1124 from the IPT power source 1122,which in addition to frequency and phase may also reflect a currentlevel, a power level, or any other operational status of the IPT powersource 1122. The evaluation & control unit 1140 also includes an outputfor providing a detection hypothesis H_(i).

The series capacitor C_(res) 1104 in combination with shunt inductorL_(sh) 1106 serves as a high pass filter to attenuate the voltageinduced in the inductive sense coil 1102 by the alternating magneticfield B_(exp) (t) at the IPT frequency f_(IPT). Attenuating this lowfrequency component may generally relax requirements on the voltagesensor 1115, the current sensor 1116 and the impedance analyzer 1108 andmay also reduce any non-linear distortion effects such ascross-modulation between any low and high frequency signal components.The capacitor C_(res) 1104 will also lower a current component I_(ind),at the IPT frequency f_(IPT), induced in the inductive sense coil 1102,which will lower consequent Joule heating effects in the inductivesensing coil 1102. Self-heating of the inductive sensing coil 1102 mayexert a disturbing effect when sensing objects via a change of theirtemperature. The capacitor C_(res) 1104 may also serve to fully orpartially compensate for the reactance of the inductive sensing coil1102 at the sense frequency f_(s), as will be outlined in more detailbelow. The series resistor R_(res) 1111 may serve to limit the sensecurrent I_(s), e.g., if the sense circuit 1100 is tuned to resonance(e.g., full compensation) to minimize an impedance at the measurementport 1110.

In some implementations, the shunt inductor L_(sh) 1106 may be omittedor reduced in physical size (e.g., for a lower current rating). In suchimplementations, the circuit 1100 may actively cancel or minimize theIPT frequency (f_(IPT)) voltage component at the measurement port 1110by using a signal voltage source (e.g., sense signal voltage source1112) that generates a high frequency sense signal superimposed over alow frequency compensation signal (e.g., at the IPT frequency f_(IPT)).The circuit 1100 may then adjust an amplitude and/or a phase of the lowfrequency compensation signal so as to minimize the IPT frequencyvoltage at the measurement port 1110.

In some other implementations, the shunt inductor L_(sh) 1106 may be an“air coil” not including any ferrite core. This may be required to avoidany modulation effect that may be produced by a ferrite core in thepresence of the current component I_(ind). Since shunt inductor L_(sh)1106 is connected in parallel at the measurement port 1110, even veryweak modulation effects may seriously desensitize detection of theforeign object 1150.

Selecting a suitable sense frequency requires particular attention. Thefundamental frequency, the harmonic frequencies, and other switchingnoise of the IPT system may potentially interfere or cross-modulate withthe sense signal thus desensitizing foreign object detection. Withrespect to the circuit 1100 of FIG. 11, and considering the values ofthe capacitor C_(res) 1104, the inductor L_(sh) 1106, and other designconstraints, substantial attenuation of the fundamental frequency andnoise may be achieved at frequencies well above 150 kHz, preferably inthe MHz range. Another aspect for consideration is sensitivity tocapacitive effects and thus to non-metallic dielectric objects (e.g.water, snow, ice, etc.). Capacitive effects may be explained by aparasitic electric field that is also generated by the inductive sensecoil at high frequency. Sensitivity of electric fields may become anissue at frequencies above 10 MHz. In view of these factors, a sensefrequency well above f_(IPT), e.g., in the frequency range 1 to 10 MHz,may be a good trade off.

A quantity representative of the inductive sense coil's equivalentinductance and equivalent resistance may be the complex impedance Z _(s)that is a function of time (e.g., is modulated) when the foreign object1150 is present. This notion of an impedance may be applied if the sensesignal is a continuous sinusoidal wave and if the sense frequency f_(s)is significantly higher than the modulation frequency (e.g., f_(IPT)),which may hold for sense frequencies f_(s) in the MHz range. For otherexcitations, the notion of an impedance may not be appropriate.

In some implementations, the time varying complex impedance Z _(s)(t)may be obtained by sensing the voltage V_(s) and the current I_(s) atthe measurement port 1110. In more detail, the complex impedance Z_(s)(t) is obtained by filtering and envelope detection of the sensedvoltage V_(s) and the sensed current I_(s) in the filter & detectormodule 1126 and the filter & detector module 1128, respectively, toobtain the complex voltage envelope V _(s)(t) and the complex currentenvelope I _(s)(t) (e.g., the modulation waveforms). The filter &detector module 1126 may then output the complex voltage envelope V_(s)(t) and the filter & detector module 1128 may then output thecomplex current envelope I _(s)(t) to the module 1130 that computes thequotient Z _(s)(t)=V _(s)(t)/I _(s)(t). The filters within the modules1126 and 1128 may be matched filters that reduce noise with minimaldistortion of the voltage V _(s)(t) and current I _(s)(t) modulationwaveforms. In addition, the filter & detector modules 1126 and 1128 maybe frequency and/or phase synchronized to the alternating magnetic field{right arrow over (B)}_(exp)(t) by receiving the IPT reference signal1124 from the IPT power source 1122.

In some implementations, the complex impedance Z _(s)(t) may be measuredwith a frequency f_(s), substantially at resonance, as essentiallydefined by the inductive sense coil's inductance L_(sc) (not shown inFIG. 10) and the capacitance C_(res) 1104. However, measuring theimpedance Z _(s)(t) at resonance should not be construed as a generalnecessity for a foreign object detection method. However, resonance maybe advantageous to reduce dynamic range requirements for the voltage1115 and current 1116 sensors and for the impedance analyzer 1108. Whilean absolute impedance change (e.g., 2πf_(s) ΔL_(sc)) due to the presenceof the foreign object 1150 is independent of any reactance compensation,the relative (e.g., percentage) change becomes more significant if thegross voltage across the inductive sensing coil 1102 is compensated forby tuning the sense frequency f_(s) to resonance since it is therelative impedance change that determines the dynamic range requirementsof the voltage sensor 1115, the current sensor 1116 and the componentswithin the impedance analyzer 1108. Further benefits of resonance tuningare discussed below.

The evaluation unit 1140 may further process and compare the detectedcomplex impedance waveforms Z _(s)(t) against a reference waveform, alsotaking into account information received via the IPT reference signal1124, to finally select a detection hypothesis H_(i). Such referencewaveforms may be obtained in a system calibration process.

In some implementations, the evaluation & control unit 1140 may beconfigured to determine the presence of the foreign object 1150 based ondetecting a predetermined level or amount of modulation and on otherdistinct characteristics in the detected complex impedance waveforms Z_(s)(t). These characteristics (e.g., the modulation harmonics) may beanalyzed in the time domain or in the frequency domain (e.g. by aFourier series).

In some other implementations, the evaluation & control unit 1140 mayalso correlate the determined complex impedance waveform Z _(s)(t) withthe duty cycles of the intermittent alternating magnetic field {rightarrow over (B)}_(exp)(t) to determine the presence of the foreign object1150 via the alternating magnetic field biasing and/or via the heatingeffect.

FIG. 12 is a diagram of another ferromagnetic foreign object detectioncircuit 1200 based on a continuous waveform response approach, inaccordance with some implementations. The circuit 1200 may determine thepresence of a ferromagnetic object (not shown) based on a frequencydomain processing approach. The circuit 1200 utilizes a plurality (N) ofinductive sensing coils (e.g., a coil array, not completely shown inFIG. 12) including the inductive sensing coil 1202, in order to providesufficient detection sensitivity over an entire surface area of an IPTcoupler (e.g. a base pad, not shown in FIG. 12). For the sake ofclarity, FIG. 12 omits portions of the IPT system (as shown in FIG. 11)that may be used for the foreign object detection process. The circuit1200 is substantially the same as that shown in FIG. 11 except that itincludes multiplexers 1254 and 1256 (e.g., comprising N analog switches)and omits the current sensor 1116. In some implementations, means formultiplexing measurements of a plurality of changes in the electricalcharacteristic of a plurality of inductive sensing coils may comprise atleast one of the multiplexers 1254 and 1256.

In this detection circuit 1200 the sense signal source (1112 as shown inFIG. 11) is accomplished by a numerical frequency synthesizer 1260 thatfeeds into a Digital-to-Analog Converter (DAC) 1250. The DAC 1250provides a voltage source output V_(o) connected to a measurement port1210 (denoted by the dotted line) via a series resistor R_(ser) 1211 andthe multiplexer 1254. The DAC 1250 may include analog signal restorationfilters (not shown in detail in FIG. 12) as needed to generate a cleansense voltage signal. The resistor R_(ser) 1211 may also include theon-state resistance of the respective switch within the multiplexer1254. FIG. 12 shows the resistor R_(ser) in common with a plurality of Ninductive sensing coils (not shown). However, in some implementations itmay be preferable to connect the multiplexer 1254 directly to the sensesignal source (e.g., the DAC 1250) and to use N resistors downstream(e.g., to the left, at the outputs) of the multiplexer 1254. Thisconfiguration may have less issues with parasitic parallel capacitancesfrom analog switches at the measurement port 1210.

The DAC 1250 output voltage V_(o) and the resistor R_(ser) 1211 may beselected to act substantially as a constant alternating current (AC)source driving a quasi-constant sinusoidal current I_(s,l) into theinductive sensing coil that is selected by the multiplexer 1254.Alternatively, the DAC 1250 may provide a constant AC source output notrequiring the series resistance R_(ser) 1211. Assuming a defined,constant sense current I_(s,l), the sensed voltage V_(s,i) at themeasurement port 1210 of the i-th sense circuit (other circuits notshown) may be considered to directly reflect the impedance Z _(s,i).

Furthermore, FIG. 12 shows each of the N voltage sensor outputsconnected to an Analog-to-Digital Converter (ADC) 1252 via a secondmultiplexer 1256 (e.g., comprising N analog switches). The voltagesensor 1215 and/or the ADC 1252 may include analog signalpreconditioning circuitry such as pre-amplifying and/or anti-aliasingfilters that are not shown in detail in FIG. 12. Narrowband filteringand detection of the complex voltage waveform may then be performed inthe digital (numerical) domain. The voltage waveform V_(s,i)(t), whichis input to the ADC 1252 via the multiplexer 1256, is analyzed in theFourier (e.g., frequency) domain using a bank of 2K+1 synchronousdetectors 1258, one for each modulation side band frequency, aspreviously described in connection with FIG. 10. A suitable value for Kmay be any of 2, 3, 4, although the present application is not solimited such that K may have any integer value.

Each synchronous detector 1258 (e.g., within the bank 1268) provides anin phase mixer 1266, a quadrature mixer 1264, a low pass filter 1262 anda complex (in-phase and quadrature) output delivering a complexamplitude (e.g., representing a Fourier coefficient) denoted by V_(s,n,k), where n refers to the n-th sense coil and k to the k-th ordermodulation harmonic, where |k|≤2K. The zero-order modulation harmonic V_(s,n,0) refers to the sense carrier signal component and is obtained bymixing V_(s,i)(t) with a sinusoidal quadrature waveform with frequencyf_(s). The low pass filter 1262 may be a Finite Impulse Response(FIR)-type filter dimensioned with respect to filtering requirements anddetection time constraints. In a foreign object detection system using Ninductive sensing coils and time multiplexing, available detection timefor each sense coil reduces to 1/N^(th) that of an available detectiontime for the circuit 1100 of FIG. 11.

The numerical frequency waveforms (0°, 90°) input to the in-phase andquadrature mixers, respectively, are generated by a numerical frequencysynthesizer 1260 with frequencies as exemplarily indicated in FIG. 10.In some implementations, all frequency waveforms may be based on thesense frequency f_(s) 1218 received from the evaluation & control unit1240 and on the external IPT reference signal 1224 received from IPTtransfer system. In some implementations, the IPT reference signal 1224is derived from the residual IPT frequency voltage as it may be sensedat the measurement port of the i^(th) sense circuit. The numericalfrequency synthesizer 1260 may include means for frequency and phasesynchronizing an internal numerical oscillator to the external IPTreference signal 1224.

The evaluation & control unit 1240 may determine the presence of apotential object by comparing a detected set of complex outputs(V_(s,n,K)) against a set of reference values using an appropriatethreshold. The reference values may be obtained in a process of systemcalibration. Moreover, the evaluation & control unit 1240 may correlatetime sequences of consecutively detected sets of outputs with thealternating magnetic field intervals, e.g., for detecting objects viathe magnetic field biasing and/or heating effect. The zero-ordercoefficient V _(s,n,0) may be of particular relevance in such acorrelation approach.

In some implementations, the real and imaginary components of thecomplex voltage V _(s,n,0) should reflect an inductive sense coil's 1202equivalent resistance and equivalent inductance, respectively, requiringtrue mapping of the complex voltage. True voltage (e.g., impedance)mapping may provide most of the information for discriminating betweenpotential objects and other disturbances. However, true voltage mappingmay require the system to compensate for any phase error that isintroduced by the analog circuitry between the DAC 1250 and the ADC1252. This phase error may generally vary with frequency, with theselected sense coil 1202, and also with the temperature and age ofcomponents within the circuit 1200.

Therefore, in some implementations the evaluation & control unit 1240performs phase correction by the following procedure. First, the sensefrequency f_(s) 1218 is tuned to minimize the magnitude of V _(s,n,0).At this frequency the impedance at the measurement port 1210 should,ideally, be purely resistive (zero phase), neglecting the effect of theshunt inductor L_(sh) 1206, which allows the circuit 1200 to determinephase error. Knowing the phase error, the circuit 1200 may perform phasezeroing by rotating the voltage phasor V _(s,n,0) by an amount ofmeasured phase error to cancel the measured phase error. This proceduremay provide a sufficiently accurate phase calibration as needed for truevoltage (e.g., impedance) mapping.

In some implementations, phase correction may also be required for theIPT frequency component (e.g., to be substantially in phasesynchronicity with the voltage induced into the inductive sense coil1202 at the IPT frequency f_(IPT)). Such correction may be performed bythe numerical frequency synthesizer 1260 individually for each of theinductive sensing coils 1202.

Ferrites used in the IPT coupler (not shown), in the shunt inductorL_(sh) 1206, and other inherent non-linearity within the circuit 1200may produce a certain degree of impedance modulation. Such intrinsicmodulation effects may be nullified in a calibration process.

Switching noise harmonic content produced by the IPT power source may becoupled into the inductive sense coil 1202 via the IPT coupler coil (notshown) and may fall on frequencies where foreign object detection issensitive (e.g., the sense carrier frequency f_(s) and modulationside-bands). Therefore, the circuit 1200 may perform active interferenceavoidance by intelligently controlling the sense frequency f_(s) in amanner such that the IPT harmonics remain outside of any of thesensitive frequency ranges, as defined by the bandwidth of each of thesynchronous detectors 1262, while remaining substantially at resonance.Conversely, the system may adjust the IPT frequency f_(IPT) by a smallamount.

Potential interference of an IPT frequency harmonic with any of therelevant modulation side-band harmonics can be identified by a passivedetection performed by the bank of synchronous detectors 1262 and theevaluation & control unit 1240 when the high frequency sense signal(e.g., V_(o) driving I_(s,l) at the DAC 1250) is switched off. Anypotential interference may be detected as an increased signal level atany of the detector 1262 outputs. When interference is detected, theevaluation & control unit 1240 may slightly adjust the sense frequencyf_(s) 1218, slightly shifting the frequency of the numerical frequencysynthesizer 1260 until the interference disappears or drops below anacceptable threshold.

The IPT power source (not shown) may also generate broadband noise thatcannot be mitigated by shifting the sense frequency f_(s). To somedegree, the IPT power source may also modulate an impedance appearing atthe measurement port 1210. This may be explained by variations of theoutput impedance of the IPT power source (e.g. 1122 with reference toFIG. 11) and some coupling between the inductive sense coil 1202 and theIPT coupler coil (e.g., 1120 with reference to FIG. 11). These outputimpedance variations may also exhibit a spectrum with a fundamentalfrequency that is twice the IPT frequency f_(IPT).

Therefore, the circuit 1200 may implement special means to stabilize theoutput impedance and to reduce broadband noise in the sense frequencyrange. Such means may include high frequency filters (isolators)inserted between a power converter and the IPT coupler of the IPTsystem. These means may be considered an integral part of an IPT tuningand matching network. The means may further include special measures inthe IPT control system, and particularly in the generators of the pulsewidth modulated (PWM) drive waveforms, for smooth (transient-free)control and to minimize jitter. The above methods for reducing noise andimpedance modulation may also apply to the IPT power sink (e.g., the IPTreceiver, not shown), which may similarly disturb an inductive foreignobject detection process.

The basic concept of detecting ferromagnetic metallic objects viaalternating magnetic field biasing and by eddy current heating may alsoprincipally apply to an impulse response (pulse induction) detectiontechnique, since the presence of a ferromagnetic object may also modifythe impulse response of an inductive sensing coil, which may be afunction of a strength of a biasing magnetic field and of the object'stemperature. Such an impulse response detection implementation may notneed resonance tuning.

FIG. 13 is a diagram of yet another ferromagnetic foreign objectdetection circuit 1300 based on an impulse response approach, inaccordance with some implementations. In operation, an inductive sensingcoil 1302 is current charged across a DC voltage source 1312 for a shortperiod of time. At a time T₀, the inductive sensing coil 1302 isdisconnected from the DC voltage source 1312 and discharged across ashunt resistor 1334, ideally without ringing. Finally, the voltage V_(s)as measured across the inductive sensing coil 1302 is sampled at leastat one defined time instant T₀+T_(k) and compared to at least onereference value.

FIG. 13 additionally shows relevant portions of the IPT system. Thecircuit 1300 is characterized by a timer circuit 1326 controlling apulse generator 1316, which defines the current charge time T_(o), aswitch 1314 controlled by the pulse generator 1316 for executing thecharging pulse, the DC voltage source V_(ic) 1312 for charging theinductive sensing coil 1302 during the sense pulse, a voltage sensor1315 for sensing a voltage V_(s(t)) at the measurement port 1310 duringthe discharging period, and a shunt resistor R_(sh) 1334 dimensioned fora fast discharge across the inductive sense coil 1302. A limiter 1328may receive the output of the voltage sensor 1315 for limiting (e.g.,clipping) the level of the measurement signal to a range of interestwhile also preventing saturation of an amplifier 1330 that receives theoutput of the limiter 1328. An output of the amplifier 1330 is input toa sampler 1332 configured to sample the voltage impulse responseV′_(s)(t) at a number K of time instants T₀+T_(k), k=1 . . . K ascontrolled by the timer 1326. An evaluation & control unit 1340evaluates consecutively detected voltage samples V′_(s)(T₀+T_(k)) anddetermines a presence of a ferromagnetic object (e.g., the foreignobject 1350) by comparing the voltage samples against a set of referencevalues.

In a preferred implementation, the foreign object 1350 is detected byperiodically applying a voltage pulse to the inductive sensing coil1302. Pulsing may be performed in synchronicity with the IPT frequencyf_(IPT) with a pulse rate equal to, or an integer multiple of, the IPTfrequency f_(IPT) and having a pulse phase adjusted to a suitable timeinstant with respect to an IPT reference signal 1324, supplied to theevaluation & control unit 1340 by the IPT power source 1322, and withrespect to switching transients that may be present in a real IPTsystem. This pulsing may be driven by exposure control signal 1342output from the evaluation & control unit 1340. The evaluation & controlunit 1340 may be configured to determine a presence of the foreignobject 1350 based on consecutively sampled impulse responses byanalyzing a degree of modulation (e.g., change), a degree of correlationwith the alternating magnetic field exposure intervals, and othercharacteristics as sensed in the acquired time series.

Moreover, expansion of the impulse response implementation to aplurality (array) of inductive sensing coils may not require amultiplexer in the sense pulse generating portion of the sense circuit1300, since a respective pulse switch 1314 may individually provide arespective pulse to only one sense coil at a time. The DC voltage source1312 may be common to a number of sense circuits, whilst the shuntresistor R_(sh) 1334, the voltage sensor 1315, and the limiter 1328 maybe individual for each inductive sensing coil (e.g., coil 1302).Multiplexing of the sensed voltages may be performed downstream (e.g.,after) the limiter 1328 or even downstream (e.g., after) the amplifier1330.

The following may apply to any ferromagnetic foreign object detectioncircuit as disclosed herein but is described in the context of theforeign object detection circuit as shown in FIG. 13.

Foreign object detection by intermittently exposing foreign objects 1350to a biasing (modulating) and/or heating alternating magnetic field{right arrow over (B)}_(exp) (t) may be applied initially beforestarting inductive power transfer. If the circuit 1300 determines thepresence of the foreign object 1350, the circuit 1300 does not startinductive power transfer. If no object has been detected initially,during regular power transfer, the circuit 1300 may employ at least oneforeign object detection process, for example, a process that issuitable for detecting an object that enters the functional space whenthe system is active (e.g. based on a time differential approach). Thismay be one of an inductive sensing method that may also partially relyon alternating magnetic field biasing, a radar-based process, and/or anyother sensing process. In the event that foreign object detection issignaled, the circuit 1300 may verify such a detection by first ceasinginductive power transfer and then reapplying the process usingalternating magnetic field biasing and/or heating. This may particularlyapply for cases of low confidence detection. If the previous detectionis confirmed, the circuit 1300 may discontinue inductive power transfer.If the previous detection is not confirmed, the circuit 1300 mayreactivate inductive power transfer.

Depending on the system capabilities, the biasing and heatingalternating magnetic field {right arrow over (B)}_(exp)(t) may begenerated by transferring real power to a load, e.g., to a battery of anelectric vehicle. Alternatively, the magnetic field {right arrow over(B)}_(exp)(t) may be generated by disconnecting the vehicle-side loadand by generating substantially reactive power in the base IPT coupler1320 and/or in the vehicle IPT coupler (not shown).

The implementations disclosed herein may be applied more cautiously toprevent hazardous situations from occurring during the alternatingmagnetic field {right arrow over (B)}_(exp)(t) exposure intervals. Forexample, the alternating magnetic field exposure {right arrow over(B)}_(exp)(t) may start at a subcritical level. If no foreign object1350 is detected, the circuit 1300 may successively increase (e.g., rampup) the level of magnetic field {right arrow over (B)}_(exp)(t) exposurefrom interval to interval.

Some objects, e.g., paper clips, may change their modulation responseconsiderably with the level of the biasing alternating magnetic field{right arrow over (B)}_(exp)(t). These effects, attributable tosaturation, may reveal further information useful for determining apresence of the foreign object 1350. Changes in a modulation responsemay also be observed when changing the frequency of the biasingalternating magnetic field {right arrow over (B)}_(exp)(t). Usingdifferent levels for the biasing alternating magnetic field {right arrowover (B)}_(exp)(t) may also help to discriminate between modulatingeffects as produced in the environment of an inductive sense coil (1302)e.g. by ferrite in the IPT coupler (not shown) and modulating effects asproduced by ferromagnetic foreign objects, since these modulatingeffects may change differently when the level is altered. Therefore, insome implementations, foreign object detection is performed with atleast one of a different level and a different frequency of the biasingalternating magnetic field {right arrow over (B)}_(exp)(t).

The methods disclosed herein may be combined with at least one of a timedifferential approach (e.g., as previously discussed in connection withFIG. 11) and a space differential approach (e.g., as previouslydiscussed in connection with FIG. 12). In a time-differential approach,the foreign object detection system may not apply absolute decisioncriteria but rather may base decisions on differences between subsequentdetector outputs in time sequences of detector outputs. By contrast, ina space-differential approach, the foreign object detection system maydetermine a presence of a ferromagnetic object based on differencesbetween detector outputs from neighboring inductive sensing coils.

Metallic structures in the environment of an inductive sense coil (e.g.the vehicle pad and vehicle underbody) may temporarily move. This mayoccur, for example, when a person enters or leaves the vehicle or whenthe vehicle is loaded or unloaded. These movements may seriously disturbinductive sensing based on the above-described processes. Suchdisturbances are expected to occur substantially simultaneously for amajority of inductive sensing coils of a foreign object detection array.Therefore, such a system may discontinue inductive sensing based onalternating magnetic field biasing and/or heating in the event thatsignificant changes of an inductive sense coil's characteristic occurcoincidentally on a majority of inductive sensing coils.

FIG. 14 is a flowchart 1400 of a method for detecting the presence of anobject, in accordance with some implementations. Although the method1400 is described herein with reference to the circuits and/or devicesas discussed above with respect to FIGS. 4-13, a person having ordinaryskill in the art will appreciate that the method 1400 may be implementedby other suitable devices and systems. Although the method 1400 isdescribed herein with reference to a particular order, in variousimplementations, blocks herein may be performed in a different order, oromitted, and additional blocks may be added. Operation block 1402includes detecting a change in an electrical characteristic of aninductive sensing coil, wherein the electrical characteristic isdetectable when the inductive sensing coil generates a first magneticfield and the electrical characteristic is configured to vary as afunction of a second time-varying magnetic field simultaneously appliedto the object. Operation block 1404 includes determining a presence ofthe object based on the detected change in the electricalcharacteristic.

FIG. 15 is a functional block diagram of an apparatus 1500 for detectingthe presence of an object, in accordance with some implementations.Those skilled in the art will appreciate that the apparatus 1500 mayhave more components than the simplified block diagrams shown in FIG.15. FIG. 15 includes only those components useful for describing someprominent features of implementations within the scope of the claims.

The apparatus 1500 comprises means 1502 for detecting a change in anelectrical characteristic of an inductive sensing coil that varies as afunction of a time-varying magnetic field applied to the object. In someimplementations, the means 1502 can be implemented by the evaluation &control unit 1140, 1240, 1340 of any of FIGS. 11-13, and/or any othermodule or component described in connection with those FIGS. In certainimplementations, the means 1502 for detecting can be configured toperform the functions of block 1402 (FIG. 14). For example, aspreviously described in connection with FIGS. 9 and 11, an equivalentresistance and equivalent inductance of the inductive sense coil 1102may be determined in each of a first state, when the IPT power source1122 is generating an alternating magnetic field, and when the IPT powersource 1122 is not generating the alternating magnetic field (e.g., achange in the electrical characteristic). Such equivalent resistance andinductance may be determined by sensing a voltage V_(s)(t) and a currentI_(s)(t), via voltage sensor 1115 and current sensor 1116, respectively,and inputting the sensed values into the impedance analyzer fordetermining the equivalent impedance Z_(s)(t). Further implementationsmay also or additionally follow the previous description for any ofFIGS. 4-8, 10, 12 and 13.

The apparatus 1500 further comprises means 1504 for determining apresence of the object based on the detected change in the electricalcharacteristic. In certain implementations, the means 1504 can beimplemented by the evaluation & control unit 1140 (FIG. 11). In certainimplementations, the means 1504 for determining can be configured toperform the functions of block 1404 (FIG. 14). For example, aspreviously described in connection with FIGS. 9 and 11, if theequivalent impedance Z_(s)(t) varies (e.g., changes) by more than apredetermined amount between the first state, where the alternatingmagnetic field is applied, and the second state, where the alternatingmagnetic field is not applied, the evaluation & control unit 1140 may beconfigured to output a determination that the foreign object 1150 ispresent. Further implementations may also or additionally follow theprevious description for any of FIGS. 4-8, 10, 12 and 13.

The various operations of methods described above may be performed byany suitable means capable of performing the operations, such as varioushardware and/or software component(s), circuits, and/or module(s).Generally, any operations illustrated in the Figures may be performed bycorresponding functional means capable of performing the operations.

Information and signals may be represented using any of a variety ofdifferent technologies and techniques. For example, data, instructions,commands, information, signals, bits, symbols, and chips that may bereferenced throughout the above description may be represented byvoltages, currents, electromagnetic waves, magnetic fields or particles,optical fields or particles, or any combination thereof.

The various illustrative logical blocks, modules, circuits, and methodsteps described in connection with the implementations disclosed hereinmay be implemented as electronic hardware, computer software, orcombinations of both. To clearly illustrate this interchangeability ofhardware and software, various illustrative components, blocks, modules,circuits, and steps have been described above generally in terms oftheir functionality. Whether such functionality is implemented ashardware or software depends upon the particular application and designconstraints imposed on the overall system. The described functionalitymay be implemented in varying ways for each particular application, butsuch implementation decisions should not be interpreted as causing adeparture from the scope of the implementations.

The various illustrative blocks, modules, and circuits described inconnection with the implementations disclosed herein may be implementedor performed with a general purpose hardware processor, a Digital SignalProcessor (DSP), an Application Specific Integrated Circuit (ASIC), aField Programmable Gate Array (FPGA) or other programmable logic device,discrete gate or transistor logic, discrete hardware components, or anycombination thereof designed to perform the functions described herein.A general purpose hardware processor may be a microprocessor, but in thealternative, the hardware processor may be any conventional processor,controller, microcontroller, or state machine. A hardware processor mayalso be implemented as a combination of computing devices, e.g., acombination of a DSP and a microprocessor, a plurality ofmicroprocessors, one or more microprocessors in conjunction with a DSPcore, or any other such configuration.

The steps of a method and functions described in connection with theimplementations disclosed herein may be embodied directly in hardware,in a software module executed by a hardware processor, or in acombination of the two. If implemented in software, the functions may bestored on or transmitted as one or more instructions or code on atangible, non-transitory, computer readable medium. A software modulemay reside in Random Access Memory (RAM), flash memory, Read Only Memory(ROM), Electrically Programmable ROM (EPROM), Electrically ErasableProgrammable ROM (EEPROM), registers, hard disk, a removable disk, a CDROM, or any other form of storage medium known in the art. A storagemedium is coupled to the hardware processor such that the hardwareprocessor can read information from, and write information to, thestorage medium. In the alternative, the storage medium may be integralto the hardware processor. Disk and disc, as used herein, includescompact disc (CD), laser disc, optical disc, digital versatile disc(DVD), floppy disk and blu ray disc where disks usually reproduce datamagnetically, while discs reproduce data optically with lasers.Combinations of the above should also be included within the scope ofcomputer readable media. The hardware processor and the storage mediummay reside in an ASIC.

For purposes of summarizing the disclosure, certain aspects, advantagesand novel features s have been described herein. It is to be understoodthat not necessarily all such advantages may be achieved in accordancewith any particular implementation. Thus, the invention may be embodiedor carried out in a manner that achieves or optimizes one advantage orgroup of advantages as taught herein without necessarily achieving otheradvantages as may be taught or suggested herein.

Various modifications of the above described implementations will bereadily apparent, and the generic principles defined herein may beapplied to other implementations without departing from the spirit orscope of the application. Thus, the present application is not intendedto be limited to the implementations shown herein but is to be accordedthe widest scope consistent with the principles and novel featuresdisclosed herein.

What is claimed is:
 1. An apparatus for detecting an object, comprising:an inductive sensing coil that is configurable to generate a firstmagnetic field having a first frequency, the inductive sensing coilconfigured to have an electrical characteristic that is detectable whengenerating the first magnetic field, wherein the electricalcharacteristic is configured to vary as a function of a secondtime-varying magnetic field simultaneously applied to the object, thesecond time-varying magnetic field, having a second frequency differentthan the first frequency, being generated by a wireless power transfercoil independent of the first magnetic field; and a controllerconfigured to: detect a change in the electrical characteristic, anddetermine a presence of the object based on the detected change in theelectrical characteristic.
 2. The apparatus of claim 1, wherein theelectrical characteristic comprises one or more of an equivalentresistance, an equivalent inductance, an equivalent impedance, and animpulse response of the inductive sensing coil.
 3. The apparatus ofclaim 1, wherein the object comprises one or more of a ferromagneticobject, a metallic film and a metallic foil.
 4. The apparatus of claim1, wherein the inductive sensing coil comprises a plurality of inductivesensing coils and wherein the controller is further configured tomultiplex measurements of a plurality of changes in the electricalcharacteristic of the plurality of inductive sensing coils.
 5. Theapparatus of claim 1, wherein the second time-varying magnetic field isan alternating magnetic field.
 6. The apparatus of claim 1, wherein thecontroller is configured to detect the change in the electricalcharacteristic in the time domain.
 7. The apparatus of claim 1, whereinthe controller is configured to detect the change in the electricalcharacteristic in the frequency domain.
 8. A method for detecting anobject, comprising: detecting a change in an electrical characteristicof an inductive sensing coil, wherein the electrical characteristic isdetectable when the inductive sensing coil generates a first magneticfield having a first frequency and the electrical characteristic isconfigured to vary as a function of a second frequency of a secondtime-varying magnetic field simultaneously applied to the object, thesecond time-varying magnetic field being generated by a wireless powertransfer coil independent of the first magnetic field; and determining apresence of the object based on the detected change in the electricalcharacteristic.
 9. The method of claim 8, wherein the electricalcharacteristic comprises one or more of an equivalent resistance, anequivalent inductance, an equivalent impedance, and an impulse responseof the inductive sensing coil.
 10. The method of claim 8, wherein theobject comprises one or more of a ferromagnetic object, a metallic filmand a metallic foil.
 11. The method of claim 8, wherein the inductivesensing coil comprises a plurality of inductive sensing coils and themethod further comprises multiplexing measurements of a plurality ofchanges in the electrical characteristic of the plurality of inductivesensing coils.
 12. The method of claim 8, wherein the secondtime-varying magnetic field is an alternating magnetic field.
 13. Themethod of claim 8, further comprising detecting the change in theelectrical characteristic in the time domain.
 14. The method of claim 8,further comprising detecting the change in the electrical characteristicin the frequency domain.
 15. A non-transitory, computer-readable mediumcomprising code that, when executed, causes an apparatus for detectingan object to: detect a change in an electrical characteristic of aninductive sensing coil, wherein the electrical characteristic isdetectable when the inductive sensing coil generates a first magneticfield having a first frequency and the electrical characteristic isconfigured to vary as a function of a second time-varying magnetic fieldsimultaneously applied to the object, the second time-varying magneticfield, having a second frequency different than the first frequency,being generated by a wireless power transfer coil independent of thefirst magnetic field; and determine a presence of the object based onthe detected change in the electrical characteristic.
 16. The medium ofclaim 15, wherein the electrical characteristic comprises one or more ofan equivalent resistance, an equivalent inductance, an equivalentimpedance, and an impulse response of the inductive sensing coil. 17.The medium of claim 15, wherein the object comprises one or more of aferromagnetic object, a metallic film and a metallic foil.
 18. Themedium of claim 15, wherein the inductive sensing coil comprises aplurality of inductive sensing coils and the code, when executed,further causes the apparatus to multiplex measurements of a plurality ofchanges in the electrical characteristic of the plurality of inductivesensing coils.
 19. The medium of claim 15, wherein the secondtime-varying magnetic field is an alternating magnetic field.
 20. Themedium of claim 15, wherein the code, when executed, further causes theapparatus to detect the change in the electrical characteristic in thetime domain.
 21. The medium of claim 15, wherein the code, whenexecuted, further causes the apparatus to detect the change in theelectrical characteristic in the frequency domain.
 22. An apparatus fordetecting an object, comprising: means for detecting a change in anelectrical characteristic of an inductive sensing coil, wherein theelectrical characteristic is detectable when the inductive sensing coilgenerates a first magnetic field having a first frequency and theelectrical characteristic is configured to vary as a function of asecond time-varying magnetic field simultaneously applied to the object,the second time-varying magnetic field, having a second frequencydifferent than the first frequency, being generated by a wireless powertransfer coil independent of the first magnetic field; and means fordetermining a presence of the object based on the detected change in theelectrical characteristic.
 23. The apparatus of claim 22, wherein theelectrical characteristic comprises one or more of an equivalentresistance, an equivalent inductance, an equivalent impedance, and animpulse response of the inductive sensing coil.
 24. The apparatus ofclaim 22, wherein the object comprises one or more of a ferromagneticobject, a metallic film and a metallic foil.
 25. The apparatus of claim22, further comprising a plurality of inductive sensing coils includingthe inductive sensing coil, the apparatus further comprising means formultiplexing measurements of a plurality of changes in the electricalcharacteristic of the plurality of inductive sensing coils.
 26. Theapparatus of claim 22, wherein the second time-varying magnetic field isan alternating magnetic field.
 27. The apparatus of claim 22, whereinthe means for detecting the change in the electrical characteristicdetects the change in the time domain.
 28. The apparatus of claim 22,wherein the means for detecting the change in the electricalcharacteristic detects the change in the frequency domain.